26 accepted papers
Precise orientation of oocyte is a prerequisite for many cell manipulations, especially Intracytoplasmic Sperm Injection (ICSI), to prevent damage to the meiotic spindle. However, automating this process presents significant challenges due to the visual ambiguity of the polar body and the complex fr
This paper addresses the problem of protecting network information from privacy system identification (SI) attacks when sharing cyber-physical system simulations. We model analyst observations of networked states as time-series outputs of a graph filter driven by differentially private (DP) nodal ex…
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based planners struggle with contact complexity, while on-policy reinforcement learning (RL) is sample-inefficient and has limited…
This work proves that an $n$-dimensional hybrid system can be embedded into an $m$-dimensional Euclidean space equipped with a continuous vector field on its embedded image whenever $m>2n$. This result suggests that an *intrinsically* discontinuous hybrid system generically admits a continuous *extr…
Recent advancements in Unified Multimodal Models (UMMs) have enabled remarkable image understanding and generation capabilities. However, while models like Gemini-2.5-Flash-Image show emerging abilities to reason over multiple related images, existing benchmarks rarely address the challenges of mult
Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular, while low-level motion tracking and trajectory-following controllers are mature, whole-body reference–guided methods are…
Large language models (LLMs) have demonstrated remarkable capabilities across various tasks. However, these models could offer biased, hallucinated, or non-factual responses camouflaged by their fluency and realistic appearance. Uncertainty estimation is the key method to address this challenge. Whi…
Locomotion in robots remains an unsolved challenge, particularly for those with complex structures and dynamic environments. Consequently, the control systems for such robots must place greater emphasis on risk mitigation and safety considerations to ensure reliable and stable operation. Existing st
Video object detection (VOD) of motile cells (e.g., bacteria and sperm) under microscopy is challenging due to motion blur, sporadic out-of-focus, and pose variations. Compared with VOD in generic scenes, the lower contrast and smaller color space of microscopy imaging further introduce feature over
This paper introduces Discrete-time Hybrid Automata Learning (DHAL), a framework using on-policy Reinforcement Learning to identify and execute mode-switching without trajectory segmentation or event function learning. Hybrid dynamical systems, which include continuous flow and discrete mode switchi…
Large Language Models (LLMs) have shown strong capabilities in document re-ranking, a key component in modern Information Retrieval (IR) systems. However, existing LLM-based approaches face notable limitations, including ranking uncertainty, unstable top- k recovery, and high token cost due to token
Multimodal learning faces challenges in effectively fusing information from diverse modalities, especially when modality quality varies across samples. Dynamic fusion strategies, such as attention mechanism in Transformers, aim to address such challenge by adaptively emphasizing modalities based on…
Panoramic image processing is essential for omni-context perception, yet faces constraints like distortions, perspective occlusions, and limited annotations. Previous unsupervised domain adaptation methods transfer knowledge from labeled pinhole data to unlabeled panoramic images, but they require a…
Cable-driven parallel robots (CDPRs) are now widely used in tasks such as filming and inspection due to their large workspace. Compared to unmanned aerial vehicles (UAVs), there's no need to navigate or position indoors for CDPRs, and CDPRs have lower noise levels and longer endurance. Therefore, th
Traditional sperm morphology analysis is based on tedious manual annotation. Automated morphology analysis of a high number of sperm requires accurate segmentation of each sperm part and quantitative morphology evaluation. State-of-the-art instance-aware part segmentation networks follow a "detect-t…
In this paper, we propose a source coding scheme that represents data from unknown distributions through frequency and support information. Existing encoding schemes often compress data by sacrificing computational efficiency or by assuming the data follows a known distribution. We take advantage of…
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor information and algorithms, suitable for known and structured environments, but it lacks adaptability in complex or unknown…
Graph matching over two known graphs is a method for de-anonymizing obscured node labels within an anonymous graph, finding the corresponding nodes in a second graph. In this paper, we consider a new case where a set of graph signals originate from a hidden graph. We want to match their components t…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental information. However, in scenarios like nighttime or dense for…
Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. Traditional design methods often rely on human intuition and experience. However, such approaches are time-consuming, labor-intensive, lack theoretical guidance and hard to…
For traditional cable-driven parallel robots (CD-PRs), changing the workspace is relatively difficult, which needs to reconfigure the anchor points and the external frame. The main reason is that the winch is separated from the moving platform, and a series of pulleys are applied to guide the drivin…
Soft tissue cutting is used for incision, separation and removal of tissues or cells. Due to high deformation of soft tissues resulting from their viscosity and elasticity, it is challenging to accurately cut the tissue along a desired path and control the force applied to the tissue for reducing in…
Conventional wisdom in pruning Transformer-based language models is that pruning reduces the model expressiveness and thus is more likely to underfit rather than overfit. However, under the trending pretrain-and-finetune paradigm, we postulate a counter-traditional hypothesis, that is: pruning incre…
The large model size, high computational operations, and vulnerability against membership inference attack (MIA) have impeded deep learning or deep neural networks (DNNs) popularity, especially on mobile devices. To address the challenge, we envision that the weight pruning technique will help DNNs…
Context modeling plays a critical role in building multi-turn dialogue systems. Conversational Query Rewriting (CQR) aims to simplify the multi-turn dialogue modeling into a single-turn problem by explicitly rewriting the conversational query into a self-contained utterance. However, existing approa…
Although distributed learning has increasingly gained attention in terms of effectively utilizing local devices for data privacy enhancement, recent studies show that publicly shared gradients in the training process can reveal the private training data (gradient leakage) to a third-party. We have,…